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| author | m4nu3lf <m4nu3lf@gmail.com> | 2016-12-31 14:39:25 +0000 |
|---|---|---|
| committer | m4nu3lf <m4nu3lf@gmail.com> | 2017-01-09 00:13:54 +0000 |
| commit | 2e38b32e0f261445c2d0b095c1822fbe6df16e25 (patch) | |
| tree | 7add49833c34260d581424469818573abd44104a /servers/physics/joints/hinge_joint_sw.cpp | |
| parent | f2e99826c0b1e8227644bfab0795d858c504d279 (diff) | |
| download | redot-engine-2e38b32e0f261445c2d0b095c1822fbe6df16e25.tar.gz | |
Fixed inertia tensor computation and center of mass
Diffstat (limited to 'servers/physics/joints/hinge_joint_sw.cpp')
| -rw-r--r-- | servers/physics/joints/hinge_joint_sw.cpp | 20 |
1 files changed, 10 insertions, 10 deletions
diff --git a/servers/physics/joints/hinge_joint_sw.cpp b/servers/physics/joints/hinge_joint_sw.cpp index f7e1df92b8..23e00a9e7f 100644 --- a/servers/physics/joints/hinge_joint_sw.cpp +++ b/servers/physics/joints/hinge_joint_sw.cpp @@ -173,10 +173,10 @@ bool HingeJointSW::setup(float p_step) { for (int i=0;i<3;i++) { memnew_placement(&m_jac[i], JacobianEntrySW( - A->get_transform().basis.transposed(), - B->get_transform().basis.transposed(), - pivotAInW - A->get_transform().origin, - pivotBInW - B->get_transform().origin, + A->get_principal_inertia_axes().transposed(), + B->get_principal_inertia_axes().transposed(), + pivotAInW - A->get_transform().origin - A->get_center_of_mass(), + pivotBInW - B->get_transform().origin - B->get_center_of_mass(), normal[i], A->get_inv_inertia(), A->get_inv_mass(), @@ -200,20 +200,20 @@ bool HingeJointSW::setup(float p_step) { Vector3 hingeAxisWorld = A->get_transform().basis.xform( m_rbAFrame.basis.get_axis(2) ); memnew_placement(&m_jacAng[0], JacobianEntrySW(jointAxis0, - A->get_transform().basis.transposed(), - B->get_transform().basis.transposed(), + A->get_principal_inertia_axes().transposed(), + B->get_principal_inertia_axes().transposed(), A->get_inv_inertia(), B->get_inv_inertia())); memnew_placement(&m_jacAng[1], JacobianEntrySW(jointAxis1, - A->get_transform().basis.transposed(), - B->get_transform().basis.transposed(), + A->get_principal_inertia_axes().transposed(), + B->get_principal_inertia_axes().transposed(), A->get_inv_inertia(), B->get_inv_inertia())); memnew_placement(&m_jacAng[2], JacobianEntrySW(hingeAxisWorld, - A->get_transform().basis.transposed(), - B->get_transform().basis.transposed(), + A->get_principal_inertia_axes().transposed(), + B->get_principal_inertia_axes().transposed(), A->get_inv_inertia(), B->get_inv_inertia())); |